Shahab Heshmati-Alamdari

Research output

Research output per year 2013 2014 2018 2019 2020 2022 2024 2024

• 21 Article in proceeding
• 12 Journal article
• 3 Conference article in Journal
• 2 Book chapter
• 1 More
  • 1 PhD thesis

Research output per year

Research output per year

Search results

• 2024

  A Control Barrier Function Based Visual Servoing Framework for Safe Operation of UAVs in GNSS Denied Settings using Fiducial Markers

  Lynch, A., Lyu, C., Buzzatto, J., Heshmati-Alamdari, S. & Liarokapis, M., 14 Nov 2024, 2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR). IEEE (Institute of Electrical and Electronics Engineers), p. 1-6 6 p. 10770045

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

  • Pilotless Aircraft 100%
  • GNSS 100%
  • GNSS-denied 100%
  • Computer Vision 16%
  • New Zealand 16%

• Control barrier function based visual servoing for Mobile Manipulator Systems under functional limitations

  Heshmati-Alamdari, S., Sharifi, M., Karras, G. C. & Fourlas, G. K., Dec 2024, In: Robotics and Autonomous Systems. 182, 104813.

  Research output: Contribution to journal › Journal article › Research › peer-review

  Open Access

  File

  • Space Techniques 100%
  • Function Image 100%
  • Strategy Effectiveness 100%
  • Resilience to Disturbance 100%
  • Velocity Limitation 100%
  3 Citations (Scopus)

• Robust, Fiducial Markers Based Predictive Control Scheme for Infrastructure Inspection with Unmanned Aerial Vehicles

  Lynch, A., Buzzatto, J., Liarokapis, M. & Heshmati-Alamdari, S., 2024, 2024 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE Signal Processing Society, p. 681-687 7 p. 10556927. (2024 International Conference on Unmanned Aircraft Systems, ICUAS 2024).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

  • Control Design 100%
  • Predictive Control Model 100%
  • Vision-based Control 50%
  • GPS-denied Environments 50%
  • Vehicle Robot 50%
  1 Citation (Scopus)

• Robust Prescribed-Time Predictive Control for Mobile Robot Navigation

  Sharifi, M., Nikou, A. & Heshmati-Alamdari, S., 2024, 2024 32nd Mediterranean Conference on Control and Automation (MED). IEEE Signal Processing Society, p. 476-481 6 p. 10566250. (2024 32nd Mediterranean Conference on Control and Automation, MED 2024).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

  • Mobile Robot 100%
  • Predictive Control 100%
  • Tasks 100%
  • And-States 100%
  • Mobile Robotics 100%

• Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems

  Sharifi, M. & Heshmati-Alamdari, S., 2024, 2024 European Control Conference (ECC). IEEE Signal Processing Society, p. 3650-3655 6 p. 10591297. (2024 European Control Conference, ECC 2024).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

  • Contact Stiffness 100%
  • Enhanced System 100%
  • Velocity Constraint 100%
  • Limiting System 100%
  • Planar Surfaces 100%
  1 Citation (Scopus)
• 2023

  Control Barrier Function Based Visual Servoing for Underwater Vehicle Manipulator Systems under Operational Constraints

  Heshmati-Alamdari, S., Karras, G. C., Sharifi, M. & Fourlas, G. K., 2023, 2023 31st Mediterranean Conference on Control and Automation, MED 2023. IEEE Signal Processing Society, p. 710-715 6 p. (2023 31st Mediterranean Conference on Control and Automation, MED 2023).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

  • Manipulator System 100%
  • Barrier Function 100%
  • Control Barrier Functions 100%
  • Closed Loop Systems 100%
  • Control Strategy 40%
  6 Citations (Scopus)
• 2022

  An Aperiodic Prescribed Performance Control Scheme for Uncertain Nonlinear Systems

  Nikou, A., Verginis, C. K. & Heshmati-Alamdari, S., 2022, 2022 30th Mediterranean Conference on Control and Automation, MED 2022. IEEE Signal Processing Society, p. 221-226 6 p. (2022 30th Mediterranean Conference on Control and Automation, MED 2022).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

  • Control Scheme 100%
  • Closed Loop 100%
  • Prescribed Performance 100%
  • Nonlinear System 100%
  • Uncertain Nonlinear Systems 100%
  1 Citation (Scopus)

• A Predictive Control Approach for Cooperative Transportation by Multiple Underwater Vehicle Manipulator Systems

  Heshmati-Alamdari, S., Karras, G. C. & Kyriakopoulos, K. J., 1 May 2022, In: I E E E Transactions on Control Systems Technology. 30, 3, p. 917-930 14 p.

  Research output: Contribution to journal › Journal article › Research › peer-review

  Open Access

  File

  • Cooperative 100%
  • Predictive Control 100%
  • Manipulator System 100%
  • Cooperative Transportation 100%
  • Robot 50%
  37 Citations (Scopus)

  252 Downloads (Pure)

• Image Based Visual Servoing for Floating Base Mobile Manipulator Systems with Prescribed Performance under Operational Constraints

  Karras, G. C., Fourlas, G. K., Nikou, A., Bechlioulis, C. P. & Heshmati-Alamdari, S., Jul 2022, In: Machines. 10, 7, 547.

  Research output: Contribution to journal › Journal article › Research › peer-review

  Open Access

  • Manipulator System 100%
  • Prescribed Performance 100%
  • Floating Base 100%
  • Exogenous Disturbances 25%
  • Image System 25%
  7 Citations (Scopus)

• Towards Data-driven LQR with Koopmanizing Flows

  Bevanda, P., Beier, M., Heshmati-Alamdari, S., Sosnowski, S. & Hirche, S., 1 Jul 2022, In: IFAC-PapersOnLine. 55, 15, p. 13-18 6 p.

  Research output: Contribution to journal › Conference article in Journal › Research › peer-review

  Open Access

  File

  • Nonlinear System 100%
  • Linear Controller 50%
  • Finite Representation 33%
  • Quadratic Cost 33%
  4 Citations (Scopus)

  42 Downloads (Pure)
• 2021

  A robust non-linear MPC framework for control of underwater vehicle manipulator systems under high-level tasks

  Nikou, A., Verginis, C. K., Heshmati-alamdari, S. & Dimarogonas, D. V., 2021, In: IET Control Theory Applications. 15, 3, p. 323-337 15 p.

  Research output: Contribution to journal › Journal article › Research › peer-review

  • Manipulator System 100%
  • Tasks 100%
  • Linear Temporal Logic 100%
  • Robust Nonlinear MPC 100%
  • Complex Task 50%
  19 Citations (Scopus)

• Cooperative Impedance Control for Multiple Underwater Vehicle Manipulator Systems Under Lean Communication

  Heshmati Alamdari, S., Bechlioulis, C. P., Karras, G. C. & Kyriakopoulos, K. J., Apr 2021, In: IEEE Journal of Oceanic Engineering. 46, 2, p. 447-465 9118878.

  Research output: Contribution to journal › Journal article › Research › peer-review

  • Impedance Control 100%
  • Manipulator System 100%
  • Cooperative 100%
  • Lean Communication 100%
  • Underwater Vehicle-manipulator System 100%
  35 Citations (Scopus)
• 2020

  A Robust Predictive Control Approach for Underwater Robotic Vehicles

  Heshmati-Alamdari, S., Karras, G. C., Marantos, P. & Kyriakopoulos, K. J., 2020, In: IEEE Transactions on Control Systems Technology. 28, 6, p. 2352-2363 12 p.

  Research output: Contribution to journal › Journal article › Research › peer-review

  • Predictive Control 100%
  • Underwater Robotics 100%
  • Underwater Robotic Vehicle 100%
  • Robust Predictive Control 100%
  • Control Scheme 66%
  74 Citations (Scopus)

• A Self-triggered Position Based Visual Servoing Model Predictive Control Scheme for Underwater Robotic Vehicles

  Heshmati-alamdari, S., Eqtami, A., Karras, G. C., Dimarogonas, D. V. & Kyriakopoulos, K. J., 11 Jun 2020, In: Machines. 8, 2, 33.

  Research output: Contribution to journal › Journal article › Research › peer-review

  Open Access
  30 Citations (Scopus)

• Decentralized formation control for multiple quadrotors under unidirectional communication constraints

  Roque, P., Heshmati-Alamdari, S., Nikou, A. & Dimarogonas, D. V., 2020, In: IFAC-PapersOnLine. 53, 2, p. 3156-3161 6 p.

  Research output: Contribution to journal › Conference article in Journal › Research › peer-review

  Open Access
  6 Citations (Scopus)

• Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles in Uncertain Environments

  Heshmati-Alamdari, S., Nikou, A. & Dimarogonas, D. V., 2020, In: IEEE Transactions on Automation Science and Engineering.

  Research output: Contribution to journal › Journal article › Research › peer-review

  • Autonomous Underwater Vehicle 100%
  • Robust Trajectory Tracking 100%
  • Underactuated Autonomous Underwater Vehicle 100%
  • Vehicle Velocity 50%
  • Vehicle Obstacle Avoidance 50%
  133 Citations (Scopus)

• Scalable time-constrained planning of multi-robot systems

  Nikou, A., Heshmati-alamdari, S. & Dimarogonas, D. V., 1 Nov 2020, In: Autonomous Robots. 44, 8, p. 1451-1467 17 p.

  Research output: Contribution to journal › Journal article › Research › peer-review

  Open Access

  • Robot System 100%
  • Robot 100%
  • Optimal Trajectory Planning 100%
  • Finite Horizon Optimal Control Problem 100%
  • multiple robot 100%
  13 Citations (Scopus)

• Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation

  Karras, G. C., Bechlioulis, C. P., Marantos, P., Heshmati-Alamdari, S. & Kyriakopoulos, K. J., 8 Jul 2020, Autonomous Underwater Vehicles: Design and practice. Ehlers, F. (ed.). Institution of Engineering and Technology, p. 15-43 29 p.

  Research output: Contribution to book/anthology/report/conference proceeding › Book chapter › Research › peer-review

  • Autonomous Underwater Vehicle 100%
  • Motion Control 100%
  • State Estimation 100%
  • Dynamic Parameter Identification 100%
  • Design Model 50%
  3 Citations (Scopus)

• Sensor-based motion control of autonomous underwater vehicles, part II: robust motion control strategies

  Bechlioulis, C. P., Heshmati-Alamdari, S., Karras, G. C., Marantos, P. & Kyriakopoulos, K. J., 8 Jul 2020, Autonomous Underwater Vehicles: Design and practice. Ehlers, F. (ed.). Institution of Engineering and Technology, p. 45-78 34 p.

  Research output: Contribution to book/anthology/report/conference proceeding › Book chapter › Research › peer-review

  • Control Strategy 100%
  • Autonomous Underwater Vehicle 100%
  • Motion Control 100%
  • Tasks 100%
  • Vehicle Parts 100%
• 2019

  A distributed predictive control approach for cooperative manipulation of multiple underwater vehicle manipulator systems

  Heshmati-Alamdari, S., Karras, G. C. & Kyriakopoulos, K. J., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE (Institute of Electrical and Electronics Engineers), p. 4626-4632 7 p. 8793476. (Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2019-May).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  16 Citations (Scopus)

• Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning

  Nikou, A., Heshmati-Alamdari, S. & Dimarogonas, D. V., Aug 2019, 2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019. IEEE Computer Society Press, p. 1181-1186 6 p. 8843167. (IEEE International Conference on Automation Science and Engineering, Vol. 2019-August).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

  • Predictive Control Model 100%
  • Robot 100%
  • Predictive Model 100%
  • Constrained Robot 100%
  • Tube-based Model Predictive Control 100%

• Robust Image-Based Visual Servoing With Prescribed Performance Under Field of View Constraints

  Bechlioulis, C. P., Heshmati-alamdari, S., Karras, G. C. & Kyriakopoulos, K. J., Aug 2019, In: IEEE Transactions on Robotics. 35, 4

  Research output: Contribution to journal › Journal article › Research › peer-review

  • Limited Field of View 100%
  • Predefined Performance 100%
  • Coordinate Error 100%
  • Field-of-view Constraint 100%
  • Image-based Visual Servoing 100%
  64 Citations (Scopus)

• Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles

  Heshmati-Alamdari, S., Nikou, A. & Dimarogonas, D. V., Dec 2019, 2019 IEEE 58th Conference on Decision and Control, CDC 2019. IEEE Signal Processing Society, p. 8311-8316 6 p. 9030165. (Proceedings of the IEEE Conference on Decision and Control, Vol. 2019-December).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  12 Citations (Scopus)
• 2018

  A Model Predictive Control Approach for Vision-Based Object Grasping via Mobile Manipulator

  Logothetis, M., Karras, G. C., Heshmati-Alamdari, S., Vlantis, P. & Kyriakopoulos, K. J., 2018, IEEE International Conference on Intelligent Robots and Systems.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  21 Citations (Scopus)

• A robust interaction control approach for underwater vehicle manipulator systems

  Heshmati-Alamdari, S., Bechlioulis, C. P., Karras, G. C., Nikou, A., Dimarogonas, D. V. & Kyriakopoulos, K. J., 2018, In: Annual Reviews in Control.

  Research output: Contribution to journal › Journal article › Research › peer-review
  50 Citations (Scopus)

• A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained Workspace

  Heshmati-Alamdari, S., Karras, G. C., Marantos, P. & Kyriakopoulos, K. J., 2018, Proceedings - IEEE International Conference on Robotics and Automation.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  18 Citations (Scopus)

• Cooperative and Interaction Control for Underwater Robotic Vehicles

  Heshmati Alamdari, S., 2018, Athens: National Technical University of Athens. 253 p.

  Research output: PhD thesis

  • Cooperative 100%
  • Robot 100%
  • Underwater Robotics 100%
  • Manipulator System 80%
  • Control Scheme 60%

• Decentralized abstractions and timed constrained planning of a general class of coupled multi-agent systems

  Nikou, A., Heshmati-Alamdari, S., Verginis, C. K. & Dimarogonas, D. V., 2018, 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  5 Citations (Scopus)

• Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication

  Heshmati-Alamdari, S., Bechlioulis, C. P., Karras, G. C. & Kyriakopoulos, K. J., 2018, AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  8 Citations (Scopus)
• 2017

  A Nonlinear Model Predictive Control scheme for cooperative manipulation with singularity and collision avoidance

  Nikou, A., Verginis, C., Heshmati-Alamdari, S. & Dimarogonas, D. V., 2017, 2017 25th Mediterranean Conference on Control and Automation, MED 2017.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  37 Citations (Scopus)

• A Robust Force Control Approach for Underwater Vehicle Manipulator Systems

  Heshmati-alamdari, S., Nikou, A., Kyriakopoulos, K. J. & Dimarogonas, D. V., 2017, In: IFAC-PapersOnLine. 50, 1, p. 11197-11202 6 p.

  Research output: Contribution to journal › Conference article in Journal › Research › peer-review
  18 Citations (Scopus)

• Trajectory Tracking with Prescribed Performance for Underactuated Underwater Vehicles under Model Uncertainties and External Disturbances

  Bechlioulis, C. P., Karras, G. C., Heshmati-Alamdari, S. & Kyriakopoulos, K. J., 2017, In: IEEE Transactions on Control Systems Technology.

  Research output: Contribution to journal › Journal article › Research › peer-review
  185 Citations (Scopus)
• 2015

  A robust self triggered Image Based Visual Servoing Model Predictive Control scheme for small autonomous robots

  Heshmati-Alamdari, S., Karras, G. C., Eqtami, A. & Kyriakopoulos, K. J., 2015, IEEE International Conference on Intelligent Robots and Systems.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  20 Citations (Scopus)
• 2014

  A self-triggered visual servoing model predictive control scheme for under-actuated underwater robotic vehicles

  Heshmati-Alamdari, S., Eqtami, A., Karras, G. C., Dimarogonas, D. V. & Kyriakopoulos, K. J., 2014, Proceedings - IEEE International Conference on Robotics and Automation.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  36 Citations (Scopus)

• Prescribed performance image based visual servoing under field of view constraints

  Heshmati-Alamdari, S., Bechlioulis, C. P., Liarokapis, M. V. & Kyriakopoulos, K. J., 2014, IEEE International Conference on Intelligent Robots and Systems.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  18 Citations (Scopus)

• Robustness analysis of model predictive control for constrained Image-Based Visual Servoing

  Heshmati-Alamdari, S., Karavas, G. K., Eqtami, A., Drossakis, M. & Kyriakopoulos, K. J., 2014, Proceedings - IEEE International Conference on Robotics and Automation.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  27 Citations (Scopus)

• Sonar-based chain following using an autonomous underwater vehicle

  Hurtós, N., Palomeras, N., Carrera, A., Carreras, M., Bechlioulis, C. P., Karras, G. C., Hesmati-Alamdari, S. & Kyriakopoulos, K., 31 Oct 2014, IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Signal Processing Society, p. 1978-1983 6 p. 6942825. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  9 Citations (Scopus)
• 2013

  Self-triggered model predictive control for nonholonomic systems

  Eqtami, A., Heshmati-Alamdari, S., Dimarogonas, D. V. & Kyriakopoulos, K. J., 2013, 2013 European Control Conference, ECC 2013.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  62 Citations (Scopus)

• Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents

  Eqtami, A., Heshmati-Alamdari, S., Dimarogonas, D. V. & Kyriakopoulos, K. J., 2013, Proceedings of the IEEE Conference on Decision and Control.

  Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review
  33 Citations (Scopus)